#include "DeviceCharacteristic.h"

/* 设备号 */
#define Device_1
//#define Device_2
//#define Calibration

/*----------------------传感器校准-----------------------*/
#ifdef Calibration
float AccBias[3]  = {0, 0, 0};
float AccRatio[3] = {1,  1,  1};
float GyroBias[3] = {0,  0,  0};
float MagBias[3]  = {0, 0, 0};

/* 测距校准数据 */
int16_t offset_mm = 0;

#endif

/*------------------------设备1--------------------------*/
#ifdef Device_1

#ifndef Calibration
float AccBias[3]  = {0.0484, 0.0541, -0.2077};
float AccRatio[3] = {1.0009,  1.0006,  0.9948};
float GyroBias[3] = {0, 0, 0};
float MagBias[3]  = {-6.5533, 19.6795, -45.5850};


int16_t offset_mm = 20;


#endif

uint16_t ServoOffset[10] = {1380, 1410, 1540, 1500};
#endif

/*------------------------设备2--------------------------*/
#ifdef Device_2

#ifndef Calibration
float AccBias[3]  = {0, 0, 0};
float AccRatio[3] = {1,  1,  1};
float GyroBias[3] = {0,  0,  0};
float MagBias[3]  = {2292.51, 1575.15, 1709.25};
int16_t offset_mm = 20;
#endif

uint16_t ServoOffset[10] = {1380, 1410, 1540, 1500};
#endif

/************************ (C) COPYRIGHT Longmen Drone Team *****END OF FILE****/
